This paper describes a driving control scheme of electric power-assisted wheelchairs based on fuzzy learning of human operation characteristics. The "power-assisted wheelchair" which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people; However, some handicapped people with paralysis of the muscles of one side of the body cannot maneuver the wheelchair as desired because of the difference of right and left input force. Therefore, this study proposes a driving control scheme of power-assisted wheelchairs with a fuzzy variable design of human operation characteristics. Some driving experiments will be provided to confirm the effectiveness of the proposed control system.